相关论文: On the Conic Complementarity of Planar Contacts

We investigate the motion of the contact surface centroid for contractile bodies on substrates with a viscous friction law and when inertial forces are negligible. We deduce a set of sufficient conditions that ensure that the surface…

In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…

Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…

Following Demidovich's concept and definition of convergent systems, we analyze the optimal nonlinear damping control, recently proposed [1] for the second-order systems. Targeting the problem of output regulation, correspondingly tracking…

Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…

In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…

We study the influence of a background uniform magnetic field and boundary conditions on the vacuum of a quantized charged spinor matter field confined between two parallel neutral plates; the magnetic field is directed orthogonally to the…

We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…

Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support…

This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…

The control of energy dissipation in non-spherical particle contact remains an unresolved problem. Unlike spherical contact, where the interaction reduces to a one-dimensional normal oscillator, both the effective inertia and the effective…

We introduce a family of boundary conditions and point constraints for conformal immersions that increase the controllability of surfaces defined as minimizers of conformal variational problems. Our free boundary conditions fix the metric…

We present a systematic method for exactly enforcing Dirichlet, Neumann, and Robin type conditions on general quadrilateral domains with arbitrary curved boundaries. Our method is built upon exact mappings between general quadrilateral…

In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…

In this paper, we develop a new residual-based pointwise a posteriori error estimator of the quadratic finite element method for the Signorini problem. The supremum norm a posteriori error estimates enable us to locate the singularities…

Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…

We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration…

This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact manipulation as a partially observable Markov decision process…

This paper deals with a hyperbolic system of two nonlinear conservation laws, where the phase space contains two contact manifolds. The governing equations are modelling bidisperse suspensions, which consist of two types of small particles…

General dynamic properties like controllability and simulability of spin systems, fermionic and bosonic systems are investigated in terms of symmetry. Symmetries may be due to the interaction topology or due to the structure and…